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rr-learning / CausalWorld

CausalWorld: A Robotic Manipulation Benchmark for Causal Structure and Transfer Learning
https://sites.google.com/view/causal-world/home
MIT License
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Stage using unexpected client ID #106

Closed phlippe closed 1 year ago

phlippe commented 1 year ago

Hi, when performing an intervention on the friction of the floor or stage, I noticed that the 'ground truth' info dictionary did not return the new, correct friction values. However, the environment physics showed that the effect corresponding to the changed frictions. To me, it seems that this line is a bug: https://github.com/rr-learning/CausalWorld/blob/master/causal_world/envs/scene/stage.py#L516. The client ID is there set to a bool, which would be constant 'True', i.e. interpreted as 1, while the actual client ID is 0. Replacing this line with client = self._pybullet_client_w_o_goal_id fixes the issue for me.

Is this indeed a bug, or a misinterpretation on my side? If a bug, I can set up a pull request if wanted.

ftraeuble commented 1 year ago

Hi, thanks for spotting this bug. Would be great if you can set up a PR with the proposed change which seems to fix the bug. Thank you!

ftraeuble commented 1 year ago

Closing due to the issue being fixed now.